DocumentCode
700893
Title
Sliding mode control for a pneumatic robot leg
Author
Manamani, N. ; Gauthier, N. Nadjar ; M´Sirdi, N.K.
Author_Institution
Lab. de Robot. de Paris, Vélizy, France
fYear
1997
fDate
1-7 July 1997
Firstpage
2743
Lastpage
2748
Abstract
The aim of this paper is to ensure the stability of a pneumatic legged robot with robustness, versus perturbation, and uncertanties. To verify these three properties, we develop an appropriate sliding mode control based on general form of sliding manifold. This control is then compared with state feedback control implemented on the robot. The stability analysis proved by use of the Lyapunov theory an simulations shows that the proposed control algorithm can achieve satisfactory tracking performance.
Keywords
Lyapunov methods; control system synthesis; legged locomotion; pneumatic actuators; robust control; variable structure systems; Lyapunov theory; control algorithm; pneumatic actuators; pneumatic legged robot stability; sliding manifold; sliding mode control; tracking performance; Legged locomotion; Mathematical model; Pneumatic systems; Sliding mode control; Stability analysis; Trajectory; Legged Robot; Pneumatic Actuators; Sliding Mode Control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1997 European
Conference_Location
Brussels
Print_ISBN
978-3-9524269-0-6
Type
conf
Filename
7082524
Link To Document